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電機技術(shù)(ELECTRICMOTORTECHNOLOGY)LESSONSINELECTRICCIRCUITS,VOLUMEIIACBYTONYRKUPHALDTSIXTHEDITION,LASTUPDATEMARCH07,2007THEORY,CONSTRUCTION,ANDREQUIREMENTSTTHEPRINCIPLESBEHINDELECTRICMOTORSHAVEBEENAROUNDFORALMOSTTWOCENTURIES,BUTTHETECHNOLOGYHASCOMEALONGWAYDURINGTHEPASTFEWYEARSALTHOUGHMICHAELFARADAYFIRSTSHOWEDTHERELATIONSHIPBETWEENCURRENTFLOWANDMAGNETICFIELDSIN1821,ITWASNTUNTIL11YEARSLATERTHATTHESEPRINCIPLESWEREUSEDTODEMONSTRATETHEFIRSTELECTRICMOTORACTUALLY,ITWASTHEINVENTIONOFTHECOMMUTATORTHATALLOWEDELECTROMAGNETICFORCESTOBECOAXEDINTOROTARYMOTIONONCEELECTRICALPOWERCOULDBETURNEDINTOMECHANICALPOWER,ITWASEASYTOSHOWHOWTHEREVERSEWASPOSSIBLEINNEEDOFASOURCEFORHISELECTRICLIGHT,THOMASEDISONPROPOSEDGENERATINGDCPOWERTOCUSTOMERSIN1882MEANWHILE,NIKOLATESLAINVESTIGATEDBRUSHLESSACINDUCTIONMOTORSBY1888,HEWASREADYTOOPPOSEEDISONBYPROPOSINGTHEUSEOFACFORPOWERDISTRIBUTIONDESPITESOMEDIRTYCAMPAIGNTACTICSBYEDISON,WEALLKNOWHOWTHATCONTESTTURNEDOUTBECAUSEOFTHEIMPORTANCEOFELECTRICMOTORS,IWILLSPENDSOMETIMETHISMONTHEXAMININGTHEIRCONSTRUCTION,THEORY,ANDWHATSREQUIREDTOUSETHEMWHATBEGANASAREALDISTINCTIONBETWEENDCANDACMOTORSHASBECOMEMUDDLEDDUETOTHEINTRODUCTIONOFELECTRONICSTOPROVIDESMARTCONTROLBUTLETSSTARTOFFWITHASIMPLELOOKATELECTROMAGNETICSELECTROMAGNETICFORCEATTHECENTEROFOURSOLARSYSTEM,THESUNGOESTHROUGHASUNSPOTCYCLEEVERY11YEARSSUNSPOTSAREAREASOFINTENSEMAGNETICFIELDSTHATPOKETHROUGHTHEPHOTOSPHEREANDAREEVENTUALLYDRAWNTOWARDITSATTRACTINGMAGNETICPOLEWHENTHISCOLLECTEDOPPOSITIONOVERPOWERSTHESUNSDIPOLESTATE,AFLUXREVERSALFLIPSTHEDIPOLESTATETHISISCONSISTENTWITHMAXIMUMSUNSPOTACTIVITYANDTHE11YEARCYCLETHEEARTHHASARECORDOFFLIPFLOPPINGMAGNETICPOLES,BUTTHEPERIODISMUCHLONGERTHELASTONEOCCURREDABOUT740,000YEARSAGONEEDLESSTOSAY,WEHAVENEVEREXPERIENCEDONE,ANDWEDONTKNOWHOWITMIGHTAFFECTLIFEASWEKNOWITTHEORIESSUGGESTTHATTHEEARTHSMOVINGMAGNETICFIELDMAYBEDUETOTHEUNEVENFLOWOFTHEOUTERLIQUIDCOREDEEPINTHEEARTHSLAYERSPLATETECTONICSSHOWUSHOWIRREGULARANDCONTINUOUSLYCHANGINGTHESURFACEIS,SOITSEASYTOSEETHATWERENOTDEALINGWITHSMOOTHSURFACESANDIDEALSPHERESROTATINGINPERFECTBALANCEONAXISHOWEVERLIFEWILLBEAFFECTEDBYTHISDRIFTINGMAGNETICFIELD(ANDINTERNALCURRENTS),WECANFINDCONSOLATIONINTHERELATIONSHIPBETWEENAMAGNETICFIELDANDANELECTRICCURRENTSOMEMATERIALSTHATARELARGELYMADEUPOFIRONORE(MAGNETITE)CANBECONVERTEDINTOALODESTONE(MAGNETIZEDMINERAL)BYHAVINGTHENORMALLYRANDOMMAGNETICFIELDSOFITSELECTRONSALIGNEDTHISCANCOMEFROMALARGECURRENTPASSINGTHROUGHTHECONDUCTIVEMATERIALEXTREMECURRENTSBRINGEXTREMEMAGNETICFIELDSTHATCANPERMANENTLYAFFECTELECTRONSPINWHENTHEEXTERNALFORCEHASSUBSIDED,THEMAGNETICALIGNMENTCANREMAIN,GIVINGTHEMATERIALAPERMANENTMAGNETICFIELDTHEFIRSTCOMPASSWASMADEBYFLOATINGTHISPERMANENTLYMAGNETIZEDMATERIALONWATERWITHTHEWATERACTINGASAFRICTIONLESSBEARING,THELODESTONECANROTATEANDALIGNITSELFWITHTHEMAGNETICFIELDOFTHEEARTH(NORTH/SOUTH)THERELATIONSHIPBETWEENMAGNETICFIELDSANDCURRENTWASDISCOVEREDBYHANSCHRISTIANSTEDIN1820WHENHENOTICEDACOMPASSNEEDLEDEFLECTINGFROMMAGNETICNORTHWHENHEAPPLIEDELECTRICCURRENTTOAWIRERUNNINGCLOSETOTHECOMPASSTHERIGHTHANDGRIPRULEDEMONSTRATESTHEDIRECTIONOFAMAGNETICFIELDAROUNDAWIREWHENTHEELECTRICCURRENTISFLOWINGINTHEDIRECTIONOFTHETHUMB(SEEFIGURE1)IN1825,BRITISHELECTRICIANWILLIAMSTURGEONSHOWEDHOWTHEMAGNETICFIELDPRODUCEDFROMACURRENTINAWIRECOULDBEINCREASEDWITHOUTADDITIONALCURRENTBYSTACKINGTHEWIREINPARALLEL。HISELECTROMAGNETWASAHORSESHOESHAPEDPIECEOFIRONTHATWASWRAPPEDWITHSEVERALTURNSOFTHEWIRETHEIRONCOREACTSASACONCENTRATORFORTHEMAGNETICFIELDPRODUCEDBYCURRENTFLOWINTHEWIREYOUCANCAUSETHENORTH/SOUTHORIENTATIONOFANELECTROMAGNETICCORETOSWAPPOLARITIESIFTHECOILISWOUNDINTHEOPPOSITEDIRECTIONORIFTHEDIRECTIONOFTHECURRENTTHROUGHTHEWIRESISREVERSEDFIGURE2SHOWSAREPRESENTATIONOFTHEATTRACTIONOFOPPOSINGMAGNETICPOLESANDTHEREPULSIONOFLIKEMAGNETICPOLESBYCONTROLLINGTHEDIRECTIONOFCURRENTFLOWINTHECOILOFANELECTROMAGNET,YOUDEFINEITSPOLEORIENTATIONTHERIGHTHANDGRIPRULECANALSOSHOWTHENORTHMAGNETICORIENTATION(THUMB)WHENTHEFINGERSSIMULATETHECURRENTFLOWDIRECTIONINTHEWIRESOFACOILTHEDCSOURCENNOTCOUNTINGLEYDENJARCAPACITORS(CIRCA1745),EARLYSCIENTISTSWERERESTRICTEDTOONESOURCEOFPOWER,THEELECTRICPILE,ORBATTERYALESSANDROVOLTAEXPERIMENTSWITHTHERTIFICIALELECTRICALORGANNAMEDFROMTHETORPEDOFISHABILITYTOPRODUCEANELECTRICSHOCK(THEELECTRICEELCOUSIN)IVEUSTHEBASICSOFCREATINGADIRECTCURRENTFROMDISSIMILARMETALSWITHOUTMEASUREMENTDEVICES,VOLTARESEARCHWASLIMITEDTOSENSORYCOMPARISONSHOWMANYOFYOUHAVETESTEDA9VBATTERYWITHYOURTONGUEWHILETHEBATTERYANDTHEELECTROMAGNETHAVELEDTODIVERGINGADVANCES,THISCOLUMNWILLPASSOVERMOSTINFAVOROFTHEELECTRICMOTORBUTADCSOURCEANDANELECTROMAGNETBYTHEMSELVESDONOTMAKEAMOTOREXPERIMENTSUSINGBATTERIESANDELECTROMAGNETSWEREABLETOPRODUCEONLYPARTIALMOTIONWITHOUTTHENEXTINVENTIONAPERMANENTMAGNETAFFIXEDTOTHEDIAMETEROFATURNTABLEWILLDEMONSTRATEROTATIONALMOTIONWHENANELECTROMAGNETORIENTEDATTHETURNTABLEPERIMETERISENERGIZEDANDITSPOLEOPPOSESTHEPERMANENTMAGNETPOLETHEREPELLINGMAGNETSPUSHAWAY,SPINNINGTHETURNTABLEUNTILTHEOPPOSITEPOLEOFTHEPERMANENTMAGNETISATTRACTEDTOTHEELECTROMAGNETTHEOPPOSITEPOLEOFTHEPERMANENTMAGNETONTHETURNTABLEISHAPPYTOREMAINATTRACTEDTOTHEELECTROMAGNETANDTHEROTATIONCEASES(NOTONLYDOESTHEROTATIONCEASE,BUTTHEATTRACTINGPOLESPROVIDEAFORCETHATPREVENTSROTATION)THENEEDHEREISTOBEABLETOREVERSETHECURRENTFLOWINTHEELECTROMAGNETEVERYTIMETHETURNTABLEISROTATED180。WITHTODAYSELECTRONICS,YOUCANDOTHIS,BUTTHATSGETTINGAHEADOFTHESTORYYOUCANIMAGINETHATWITHATURNTABLEOFSUFFICIENTWEIGHT,IFYOUJUSTTURNOFFTHEELECTROMAGNETFOR180,MOMENTUMMIGHTALLOWTHETURNTABLETOCONTINUEROTATINGUNTILTHEELECTROMAGNETCOULDPROVIDEANOTHERPUSHAFTERALL,MANYONECYLINDERENGINESUSEDFLYWHEELMOMENTUMBEFOREELECTRONICS,MECHANICSPLAYEDAMAJORROLEINADVANCINGTECHNOLOGYTHOMASDAVENPORTRECEIVEDTHEFIRSTPATENT(USPATENTNO132)FORANELECTRICMACHINETOUSEACOMMUTATOR(MECHANICALMEANSOFREVERSINGCURRENT)IN1837NOTETHATTHOUSANDSOFPATENTSISSUEDBETWEEN1790AND1835WERENOTNUMBEREDMOTORS(ORGENERATORS)AREMADEUPOFTWOPARTSASTATOR(THESTATIONARYPART)ANDAROTOR(THEMOVINGPART)。MY“TURNTABLE“HASAPERMANENTMAGNETASTHEROTORANDANELECTROMAGNETASTHESTATORICOULDHAVEJUSTASEASILYUSEDTHEPERMANENTMAGNETASTHESTATORANDANELECTROMAGNETASTHEROTORINFACT,BECAUSEOFTHECOMMUTATORSCONSTRUCTION,THISISTHEPREFERREDMETHOD,ASINDAVENPORTSPATENT(SEEFIGURE3)BEFOREMOVINGON,LETSLOOKATAPROBLEMWITHASINGLECOILDCMOTOR(SEEFIGURE4)。THETORQUEONTHEROTORBEGINSATZEROWHENTHEELECTROMAGNETICANDPERMANENTMAGNETCORESAREPARALLELTHEMOTORWILLNOTBEABLETOSELFSTARTIFTHEROTORANDSTATORAREALIGNEDTHISPROBLEMCANBEPREVENTEDIFTWOELECTROMAGNETSAREUSEDINTHEROTORATRIGHTANGLESTOONEANOTHERTWICEASMANYCOMMUTATORSEGMENTSAREUSED,WHICHALTERNATELYPOWERSTHECOILSEACHCOILISPOWEREDDURINGTHEUPPERPORTIONOFITSTORQUECURVESOMEELECTRICMOTORSAREMANUFACTUREDWITHMORETHANTWOCOILSMORECOILSMEANSHIGHEROVERALLTORQUEASMORECOILSAREADDED,MORECOMMUTATORSEGMENTSARENECESSARYTHISREDUCESTHEAVAILABLESEGMENT(ANDBRUSH)SIZESEEFIGURE4DYNAMOTHEMOTORANDGENERATORARELIKETHECHICKENANDTHEEGGBECAUSETHEREWASNOPOWERDISTRIBUTIONSYSTEM,WHILETHEELECTRICMOTORMIGHTHAVEBEENUSEFUL,ELECTRICMOTORSWERENTPRACTICALWITHOUTAPOWERSOURCETHEFACTTHATANELECTRICMOTORCOULDALSOPRODUCEPOWERMEANTTHATCONVERTINGMECHANICALTOELECTRICALENERGYWASPOSSIBLEUPTOTHISPOINT,IVEDISCUSSEDHOWAMAGNETICFIELDPRODUCEDBYACURRENTTHROUGHAWIREISUSEDTOCREATEANELECTROMAGNET(ANDROTARYMOTION)。THEREVERSEISALSOTRUEAWIRE(ORCOIL)PASSEDTHROUGHAMAGNETICFIELDWILLHAVEACURRENTINDUCEDINITTHISISSIMILARTOTHETRANSFEROFPOWERINATRANSFORMER(CURRENTFLOWTOMAGNETICFIELDTOCURRENTFLOW)IFYOUTAKEADCMOTORANDSPINTHESHAFT,THEMAGNETICFIELDOFTHEPERMANENTMAGNETSWILLCUTTHROUGHTHEELECTROMAGNETICCOILS,INDUCINGACURRENTFLOWINTHECOILSCURRENTFLOWSONLYWHILETHEMAGNETICFIELDISCHANGINGMAXIMUMCURRENTFLOWSASTHEPERMANENTANDELECTROMAGNETSCORESBECOMEPERPENDICULARTOONEANOTHER,WHILETHECOILISCUTTINGTHROUGHTHEMAXIMUMNUMBEROFFLUXLINESMINIMUMCURRENTFLOWSWHENPERMANENTANDELECTROMAGNETSCORESAREPARALLELWITHEACHOTHER,ANDWHILETHECOILCUTSTHROUGHTHEFEWESTLINESOFFLUXUSINGMULTIPLEELECTROMAGNETICCOILSANDCOMMUTATORSEGMENTS(ASWASSHOWNTOIMPROVETORQUEINANELECTRICMOTOR)WILLSMOOTHOUTCURRENTRIPPLE(SEEFIGURE5)WHILETHECOMMUTATORISNECESSARYFORDCCURRENTANDDCMOTORS,ATTHETIMENOONEKNEWWHATTODOWITHTHEACTHATWASPRODUCEDBYADYNAMOUSINGSLIPRINGS(SEEFIGURE6)。SLIPRINGSENABLETHECONNECTIONOFTHEROTORCOILSTOTHEOUTSIDEWORLDWITHOUTREVERSINGTHECURRENTFLOW(THEWAYACOMMUTATORDOES)。SLIPRINGSHAVELESSARCINGANDWEARASSOCIATEDWITHTHEMBECAUSETHECURRENTISNTINTERRUPTEDFINALLY,ACFOUNDITSNICHEINTHEWORLDANDTHEACDYNAMOBECAMEKNOWNASTHEALTERNATORBYUSINGPERMANENTMAGNETSWITHINTHEROTORANDELECTROMAGNETSINTHESTATOR,THEALTERNATORCANPRODUCEACCURRENTWITHOUTTHENEEDOFACOMMUTATORORSLIPRINGSTHISSIMPLICITYMAKESITTHEMOSTCOSTEFFECTIVESOURCEOFEXCHANGINGMECHANICALENERGYFORELECTRICALENERGYWHENTHEROTORSMAGNETSAREREPLACEDWITHCOILS,THEALTERNATORMUSTPOWERTHEFIELDWINDINGSTOPRODUCEROTORCURRENT,ASITSUSEDTORECHARGETODAYSAUTOMOTIVEBATTERYFROMOURAUTOMOBILESINTERNALCOMBUSTIONENGINEACMOTORSWWITHTHEFIGHTOVERPOWERTRANSMISSIONANDDISTRIBUTIONTECHNIQUESALLBUTOVER,AMERICANSINTHELATE1880SCOULDNOTHAVEPOSSIBLYUNDERSTOODHOWTHEIRFUTUREWASABOUTTOCHANGELABORSAVINGDEVICESBEGANTOINVADEEVERYHOUSEHOLDSYNCHRONOUSACMOTORSBECAMEIMPORTANTBECAUSETHEYREQUIRENOSLIPRINGSORCOMMUTATORSANDARELESSEXPENSIVETOMANUFACTUREBECAUSETHEIRSPINWASAFUNCTIONOFLINEFREQUENCY(60HZ),THEYCOULDBEUSEDTOKEEPTIMEANDSTAYINSYNCWITHTHERESTOFTHEGRIDASPREVIOUSLYDISCOVERED,ADYNAMOUSINGPERMANENTMAGNETSINTHESTATORANDELECTROMAGNETSWITHSLIPRINGSINTHEROTORPRODUCED(ATTHETIME)ANUNUSABLEACVOLTAGEONCETESLASHOWEDHOWACCOULDBESTEPPEDUPFORMOREEFFICIENTTRANSMISSIONOFPOWEROVERLONGDISTANCES,THEUSEFULNESSANDSIMPLICITYOFACMOTORSANDGENERATORS(ALTERNATORS)GRABBEDHOLDBYEXCHANGINGTHEROTORANDSTATORPOSITIONSOFTHEPERMANENTANDELECTROMAGNETS,THESLIPRINGSBECOMEUNNECESSARY,ENABLINGLESSEXPENSIVEMANUFACTURINGTHESTATORCANBEWOUNDWITHASERIESOFCOILS,EACHSTAYINGINSTEPWITHTHEAC,ALTERNATELYMAGNETIZINGEACHPOLEINONEDIRECTIONANDTHENTHEOPPOSITE,60TIMESASECOND(60HZ)。THEPERMANENTMAGNETROTORISPULLEDTOWARDAPOLEANDTHENPUSHEDAWAYONCEEACHCYCLETHEROTORSTEPS(IFYOUWILL)BETWEENPOLESATTHE60HZRATE,MAKINGACOMPLETEREVOLUTIONONCEEACH60HZPERTHENUMBEROFPOLESSINGLEPHASESYNCHRONOUSACMOTORSHAVEASTARTINGPROBLEMBECAUSETHESINGLEPHASEDOESNTOFFERANYOFFCENTERTORQUETOENSUREINITIALROTATIONSELFSTARTINGCANBEACCOMPLISHEDBYADDINGALEADINGORLAGGINGCOMPONENTTOMAINWINDINGSYOUCANSEETHATASECONDPHASECANPROVIDETHENECESSARYSTARTINGTORQUEWITHASINGLEPHASEACSOURCE,THISISNTPOSSIBLEASECONDPOLE(WINDING)AT90WOULDSIMPLYBEINPHASEWITHTHEORIGINALPOLEBYSLIGHTLYALTERINGTHESECONDPOLE,CHANGINGTHENUMBEROFTURNSINTHESTATORFIELD,ORBYADDINGACAPACITOR,THEPHASECHARACTERISTICSAREALTEREDSUFFICIENTLYSOTHATITWILLBESLIGHTLYOUTOFPHASEWITHTHEMAINWINDINGTHISWILLGIVETHEROTORABITOFTORQUETOINITIATEROTATIONCOREISSUESCOREISSUESTHECHANGING(ALTERNATING)FIELDOFACMOTORSBROUGHTSOMEUNIQUELOSSESTOTHEFOREFRONTINADDITIONTOTHEI2RLOSSESINALLMOTORWINDINGS,HYSTERESIS,ANDEDDYCURRENTSSOLIDCOREDESIGNSWERESHOWNTOCREATEEDDYCURRENTSWITHINTHECOREASITEXPERIENCEDACHANGINGMAGNETICFIELDANYCHANGINGCURRENTWILLCREATEAMAGNETICFIELDTHEREFORE,EDDYCURRENTSPRODUCEANOPPOSINGFIELDTOTHEFIELDRESPONSIBLEFORITSFORMATIONEDDYCURRENTSCANBEREDUCEDBYMANUFACTURINGTHINNERCORESANYNEWENERGYTRYINGTOMAGNETIZETHECOREMUSTNULLRESIDUALMAGNETISMBEFOREITCANPERFORMITSDESIGNEDFUNCTIONEFFICIENTLYATTENTIONTOCOREMATERIALANDMANUFACTURINGREDUCECOREHYSTERESISELECTRONICCONTROLPPRIORTOTHEADVENTOFTHESEMICONDUCTOR,CONTROLOFTHEELECTRICMOTORWASPRACTICALLYNONEXISTENTANDLIMITEDTOAPHYSICALSWITCHTHATCOULDTURNCOILCURRENTONANDOFFINITIALLY,ASTACKOFBATTERYCELLSWASTAPPEDTOAPPLYVARYINGDCPOTENTIALTOABRUSHEDDCMOTORTHENTHEPOWERRHEOSTATWASUSEDTOREDUCETHEPOTENTIALTOMOTORS,WITHGREATLOSSESINEFFICIENCYANDHEATASSEMICONDUCTORSWEREDEVELOPED,THEIRFUNCTIONSWEREEXPLOITEDBYTHEELECTRICMOTORINDUSTRYDIODESENABLEDCHOPPINGALTERNATINGACINTOPULSATINGDCTORUNDCMOTORSSCRS(ANDTRIACS)PROVIDEDALARGELEAPINCONTROLBYPROVIDINGAVARIABLEDELAYEDONCONTROLDURINGEACHHALFCYCLEOFTHEACWAVEFORMTHEDEVICESTURNEDOFFAUTOMATICALLYATEACHZEROCROSSINGOFTHEINPUTBECAUSETHEDELAYEDONTIMINGWASBASEDONEACHZEROCROSSING,EACHHALFCYCLEWASTREATEDTOTHESAMEDELAYATRANSISTORSLINEARCHARACTERISTICSENABLEDITTOBEUSEDASANELECTRONICRHEOSTATFORDCMOTORCONTROLITSUFFEREDFROMTHESAMEINEFFICIENCIESANDHEATISSUESASTHEMECHANICALRHEOSTATTHEQUESTIONBECAMEHOWCOULDTHEELECTRONICDEVICEBEUSEDMOSTEFFICIENTLY(OUTSIDEOFITSINEFFICIENTLINEARREGION)YETSTILLPROVIDEMORECONTROLTHANSIMPLYANON/OFFSWITCHTHEANSWERLEDTOTHEBEGINNINGOFANEWAGEINMOTORCONTROLPHASECONTROL(PWM)。UPTOTHATPOINT,MOTOROPERATIONWASBASEDONTHEPOWERDELIVEREDFROMTHEPUBLICUTILITIESTHISNEWELECTRONICCOMMANDOFPOWERTOAMOTOREVENTUALLYLEDTOOUROWNMULTIPHASEDPOWERSOURCENEWSEMICONDUCTORDEVICESWERESPECIFICALLYDEVELOPEDTOHANDLETHEHIGHERCURRENT/VOLTAGESOFELECTRICMOTORSTHEFETFAMILYHASEXTREMELYLOWONSTATERESISTANCES,WHICHMEANSTHATLESSOFTHEINPUTVOLTAGEISLOSTACROSSTHEDEVICEWHENITISCONDUCTINGCURRENTLESSCURRENTEQUALSLESSHEATANDHIGHEREFFICIENCIESASINGLEFETWILLEFFICIENTLYTURNONANDOFFTHEBASICDCBRUSHEDMOTOR,EFFECTIVELYCONTROLLINGITSSPEEDBYBEINGDRIVENBYAVARYINGONVERSUSOFFCONTROLSIGNAL(PWM)。FORINSTANCE,IFTHEONVERSUSOFFTIMINGIS50,THENTHEAVERAGEVOLTAGE(OVERTIME)ONTHEMOTORWILLBEONEHALFOFTHEINPUTVOLTAGELESSONTIME(EG,30)WILLLOOKLIKEANAVERAGEOF30OFTHEINPUTVOLTAGEANDTHEMOTORWILLSLOWDOWNMOREONTIME(EG,70)WILLLOOKLIKEANAVERAGEOF70OFTHEINPUTVOLTAGEANDTHEMOTORWILLSPEEDUPTHEFREQUENCYOFTHISPWMCONTROLSIGNALHASPRACTICALLIMITSATA50DUTYCYCLE,ASLOWFREQUENCYOF,SAY,ONCEPERSECOND,WILLCAUSETHEMOTORTORUNATFULLSPEEDFOR05SANDSTOPFOR05SALTHOUGHTHEOVERALLWORKOFTHEMOTORIS50,THESPEEDISNTCONSTANTATTHEINPUTOFMANYACTODCPOWERSUPPLIES,AFULLBRIDGENETWORKOFDIODESISUSEDTOGETTHEALTERNATINGPOLARITIESOFANACVOLTAGETOPASSTHROUGHALOADINONEDIRECTIONONLY(TOCHARGEUPTHEINPUTCAPACITOR)。ABRIDGEARRANGEMENTOFFETDEVICESCANBEUSEDTOSTEERASINGLEPOLARITYINPUTVOLTAGETHROUGHALOADINEITHERDIRECTIONTHISARRANGEMENTOFFETSASSOCIATESDIAGONALDEVICESASPAIRSONEDIAGONALPAIROFFETS,WHENTURNEDON,ALLOWSCURRENTTOFLOWINONEDIRECTIONTHROUGHTHELOAD(MOTOR),WHILETHEOPPOSITEDIAGONALPAIROFFETSALLOWSCURRENTTOFLOWTHROUGHTHELOADINTHEOPPOSITEDIRECTIONTHISADDSTHEFLEXIBILITYOFDIRECTIONTOTHESPEEDCONTROLOFABRUSHEDDCMOTORALTHOUGHTHEDIRECTIONANDPWMCONTROLTOTHESEMICONDUCTORPOWERDEVICESWASORIGINALLYPROVIDEDBYDISCRETETIMINGCIRCUITS,THEINTRODUCTIONOFTHEMICROCONTROLLERHANDEDCONTROLOFTHESEFUNCTIONSTOTHEPROGRAMMERWITHADDEDINTERNALHARDWARETOSUPPORTTHESECONTROLSIGNALS,INTERFACINGTOTHEPOWERDEVICESBECAMESIMPLERINTHEPREVIOUSEXAMPLE,PAIRSOFFETSWEREUSEDTOCONTROLTHESPEEDANDDIRECTIONOFCURRENTTHROUGHAWINDING(POLE)OFAMOTOR,EFFECTIVELYCONTROLLINGTHESTRENGTHOFAMAGNETICFIELDASWELLASITSPOLARITYYOUCANBEGINTOSEEHOWTHESEDEVICESCANSIMULATEACANDDCINPUTSTOANYELECTRICMOTORINFACT,THISFLEXIBILITYLEADSTOADDITIONALMOTORCONFIGURATIONSTHEADVANTAGEOFTHEACMOTORWASMOVINGTHEELECTROMAGNETSTOTHESTATOR,ELIMINATINGTHENEEDFORSLIPRINGSMULTIPHASEACCREATEDAROTATINGMAGNETICFIELDTHESAMECONCEPTCOULDBEUSEDONDCMOTORSTHECOMMUTATORWOULDNOTBENECESSARY,BECAUSEALLOFTHEAPPROPRIATELYPHASEDINPUTSWOULDBEPRODUCEDBYTHEMICROCONTROLLERTHEDISTINCTIONBETWEENACANDDCMOTORSNOWBECOMESBLURRYTHISNEWABILITYTOCONTROL(ORCREATE)INPUTTOELECTRICALMOTORSALSOPROVIDESANEWCONTROLFUNCTIONTHATWASPREVIOUSLYNONEXISTENT(UNLESSYOUCONSIDERTHECENTRIFUGALGOVERNOR)。FEEDBACKOFTHEROTATION(POSITIONORSPEED)ISHELPFUL(INSOMECASESMANDATORY)INMAINTAININGPROPERCONTROLSIGNALSREFERENCEDTOAMOTORSPHYSICALMOVEMENTSTHEREARENONSENSORMETHODSOFOBTAININGFEEDBACKBASEDONMONITORINGTHEBACKEMF(OUTPUTPRODUCEDBYTHEMOTORACTINGASAGENERATOR)。THEMORECONVENTIONALAPPROACHISTOUSEASENSORMOUNTEDTOTHEMOTORONEOFTHELEASTEXPENSIVEAPPROACHESUSESHALLEFFECTSENSORSTOSENSEROTORPOSITIONWHENINCREASEDACCURACYISNEEDED,ANOPTICALENCODERCANBEUSEDTHEMETHODYOUCHOOSEWILLDEPENDONTHETYPEOFFEEDBACKINFORMATIONYOUREQUIRETHESTEPPERMOTORWASONEOFTHEFIRSTSPECIALIZEDBRUSHLESSDCMOTORSTHEDESIGNCALLSFORAROTORWITHMANYPOLESSOATWOPHASEINPUTWILLCOGORSTEPTHEROTORBETWEENSTATORWINDINGSINEITHERDIRECTION,DEPENDINGONTHEORDEROFTHEAPPLIEDPHASES,ONESMALLSTEPATATIMETHISISAMICROMOVEMENTOFFOURSTEPSPEREACHTOOTH(PMPOLE)THATMAKEUPTHEROTORASTEPPERMOTORMOVESAPRECISEDISTANCEANDHOLDSPOSITIONWITHOUTUSINGFEEDBACKTWOTYPESOFSTEPPERMOTORSAREMANUFACTUREDUNIPOLARANDBIPOLARAUNIPOLARSTEPPERUSESACENTERTAPPEDCOILONEACHPOLEWITHTHECENTERTAPASCOMMON,THEPOLECANBEENERGIZEDINEITHERPOLARITYBYTURNINGONTHEASSOCIATEDPOWERDEVICECONNECTEDTOEACHFREEENDABIPOLARSTEPPERUSESASINGLECOILPERPOLE,PROVIDINGTWICETHETURNSPERPOLEBUTREQUIRINGFOURFETS(HBRIDGEARRANGEMENT)TOCONTROLTHEPOLARITYMOTORCHOICESAREEXPANDINGALTHOUGHMOTORCONTROLLERSINCREASETHECOSTOFMOTORAPPLICATIONS,THEYHAVEENCOURAGEDTHEINTRODUCTIONOFSPECIALIZEDMOTORSDESIGNEDTOTAKEADVANTAGEOFTHEIRFLEXIBILITY。CONTROLLERSINCORPORATETHENECESSARYINTERFACESTOCONTROLEXTERNALHIGHPOWERDEVICESBASEDONTHECOMMUTATORLESSACSYNCHRONOUSMOTOR,THEBRUSHLESSDCMOTORHASNOMAINTENANCEISSUESASSOCIATEDWITH“BRUSHES“ANDITISQUICKLYBECOMINGTHEMOTOROFCHOICEINMANYAPPLICATIONSWHILEMOSTMOTORCONTROLAPPLICATIONSCANBEHANDLEDWITHMICROCONTROLLERSANDANAPPROPRIATEAMOUNTOFSOFTWARE,WHENITCOMESTOHIGHPRECISIONANDCOMPLEXMOVEMENT,THEREAREALTERNATIVESTOROLLINGYOUROWNDESIGNPERFORMANCEMOTIONDEVICES(PMD)HASSINGLEANDMULTIAXISCONTROLLERSTHATCANHANDLEABOUTANYMOTORCONFIGURATIONGIVINGCLOSEDLOOPCONTROLHERE,YOUREDEALINGWITHMOTIONPROFILING,INCLUDINGSCURVE,TRAPEZOIDAL,ANDVELOCITYCONTOURINGIAMWANDERINGABITFROMMYINTENDEDPATHHEREITISDIFFICULTTOKEEPALLOFTHISSTRUCTUREDBECAUSETHEDEVELOPMENTOFTHEMOTORHASBEENINFLUENCEDSOMUCHBYELECTRONICSTHEBLOODLINESOFTHEMOTORFAMILYTREEARENOLONGERPUREWHEREWILLTHISLEADUSITSBECOMINGOBVIOUSTHATTHEREISABIGFUTUREFORSMALLDEVICESTHEVENTRICULARASSISTDEVICEPUMP(VAD)INFIGURE7WASCREATEDTOASSISTPATIENTSWITHCONGESTIVEHEARTFAILURE“TOOBIG,“YOUSAYTAKEALOOKATTHEULTRASONICPIEZOELECTRICMOTORDEVELOPEDBYRESEARCHERSATPENNSYLVANIASTATEUNIVERSITYSMATERIALSRESEARCHINSTITUTE(SEEPHOTO1)。STILLTOOBIGTHENANOMOTORWASCONSTRUCTEDATTHEUNIVERSITYOFCALIFORNIA,BERKELEY(SEEPHOTO2)。THIS“MOTOR“(IFYOUWANTTOTHINKABOUTITTHATWAY)ISABOUT500NMACROSSTHATS300TIMESSMALLERTHANTHEDIAMETEROFAHUMANHAIR“BUTTHISISJUSTRESEARCHSTUFF,“YOUSAYYES,HOWEVER,THEFUTUREISSTARTINGOUTTHERETODAYONSOMEONESLABTABLETHISISNTACASEOFREINVENTINGTHEWHEELITSAMATTEROFUSINGTHENEWESTTECHNOLOGYTOIMPROVEEXISTINGIMPLEMENTATIONSORCREATEENTIRELYNEWONESMEANWHILE,OURWASHINGMACHINES,POWEREDBYACINDUCTIONMOTORS,STILLGETOURCLO
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